A method, for controlling direction of a vehicle as desired in connection with operation of an autonomous driving maneuver using selectively, independently and/or in combination, multiple electrical park brakes (EPBs) and multiple hydraulic brakes (HBs). The method includes determining a total brake force needed for redirecting the vehicle in a pre-determined manner, and determining whether an applicable EPB can provide the total brake force needed. The method further includes providing, if it is determined that the applicable EPB can provide the total brake force needed, a brake command instructing the applicable EPB to apply the total brake force. The method also includes determining, if it is determined that the EPB is alone insufficient, an optimal fusion of the EPBs and the HBs, including two front and two rear HBs, two rear EPBs, and in some embodiments, also two front EPBs.